closedLoopTrackingMeasErr

dynamic equtions for the controlled system (tracking controller)

Syntax
Description
Input Arguments
Output Arguements
See Also
References

Syntax

f = closedLoopTrackingMeasErr(x,w,p,dyn,nu)

Description

This function contains the dynamic equations for the system controlled with the tracking controller u = u_ref + K (x_ - x_ref), where x_ is the measured state including a potential uncertain measurement error.

Input Arguments

x

extended system state [x;x_ref] (dimension: [2*nx,1])

w

disturbances (dimension: [nw,1])

p

parameter vector containing the reference control input and the entries of the feedback matrix (dimension: [nu*(nx+1),1])

dyn

function handle specifying the open-loop dynamics

nu

number of system inputs (scalar)

Output Arguements

f

value of the dynamic equtions (dimension: [2*nx,1])

References

[1] Schuermann et al. (2018), Reachset Model Predictive Control for Disturbed Nonlinear Systems

x	extended system state [x;x_ref] (dimension: [2*nx,1])
w	disturbances (dimension: [nw,1])
p	parameter vector containing the reference control input and the entries of the feedback matrix (dimension: [nu*(nx+1),1])
dyn	function handle specifying the open-loop dynamics
nu	number of system inputs (scalar)